#include <Wire.h>
#include <LiquidCrystal_I2C.h>
#include <Servo.h>

const int trigPin = 9;
const int echoPin = 10;
const int buzzerPin = 8;
Servo servoMotor;

// Set the LCD address and dimensions (16x2)
const int lcdColumns = 16;
const int lcdRows = 2;
LiquidCrystal_I2C lcd(0x27, lcdColumns, lcdRows);  // Change the address if needed

void setup() {
  pinMode(trigPin, OUTPUT);
  pinMode(echoPin, INPUT);
  pinMode(buzzerPin, OUTPUT);
  servoMotor.attach(7); // Attaching the servo motor to pin 7
  Serial.begin(9600);

  // Initialize the LCD
  lcd.init();
  lcd.backlight();
  lcd.clear();
}

void loop() {
  long duration, distance;

  digitalWrite(trigPin, LOW);
  delayMicroseconds(2);
  digitalWrite(trigPin, HIGH);
  delayMicroseconds(10);
  digitalWrite(trigPin, LOW);

  duration = pulseIn(echoPin, HIGH);
  distance = (duration / 2) / 29.1;

  if (distance <= 20) {
    lcd.setCursor(0, 0);
    lcd.print("Warning         "); // Clear the line and print warning
    servoMotor.write(0); // Move the servo motor to 0 degrees
    delay(1000);
    if (distance <= 10) {
      tone(buzzerPin, 1000);
      lcd.setCursor(0, 1);
      lcd.print("Danger!         "); // Clear the line and print danger
    } else {
      lcd.setCursor(0, 1);
      lcd.print("                ");
      noTone(buzzerPin);
    }
  } else {
    lcd.setCursor(0, 0);
    lcd.print("                ");
    lcd.setCursor(0, 1);
    lcd.print("                "); // Clear the line
    servoMotor.write(90); // Move the servo motor to 90 degrees
  }

  // Print the distance to serial monitor
  Serial.print("Distance: ");
  Serial.print(distance);
  Serial.println(" cm");

  delay(100); // Delay to control the rate of measurements
}